Somersaulting motion of soft bodied structure

ABSTRACT

The soft bodied structures and systems for controlling such devices are described herein. The soft bodied structures can, through a series of soft hydraulic actuators, move from a first position to a second position by a somersaulting motion. The system can include connecting to a first contact point of the surface using a surface attachment. The rigidity of the controllably resistive material can then be increased. The medial hydraulic actuators can be actuated to expand the exterior medial surface, creating a bend. The device can then attach to a second contact point using the surface attachment and the end portion actuator of the unattached end portion. Then, the surface attachment of the first attached end portion can detach. The medial hydraulic actuators and the controllably resistive material can then relax, followed by detaching the surface attachment of the second attached end portion.

TECHNICAL FIELD

The subject matter described herein generally relates to soft bodiedstructures and, more particularly, movable soft bodied.

BACKGROUND

Devices capable of complex motion, such as automatic or autonomousdevices can be used for a variety of applications, such as in the home,outdoors, military and commercial uses. Many of these devices can beformed from rigid materials, such as metals or plastics, and move usinga system of belts, wheels, or others. Conventional devices of thisnature generally rely on rigid components for support and mobility anduse a variety of sensors in moving from one position to another. Smallerdevices can be better suited for certain tasks than larger devices. Forexample, they can help with rescue and exploration operations. Theirsmall size can fit into a confined space, like in rubble or caves. Asanother example, a group of small mobile devices can provide robustnessthrough redundancy for remote missions, such as outer space missions orother extreme environments.

SUMMARY

Disclosed herein is a soft bodied structure capable of performing asomersaulting motion, as well as related systems and methods for thesame. In one or more implementations, a soft bodied structure isdisclosed. The soft bodied structure can include a first end portionhaving a first actuator and a first surface attachment configured toattach to a surface upon actuation of the first actuator. The softbodied structure can further include a second end portion having asecond actuator and a second surface attachment configured to attach toa surface upon actuation of the second actuator. The soft bodiedstructure can further include a medial portion positioned between andconnected to the first end portion and the second end portion. Themedial portion can include one or more medial actuators. The medialportion can further include a controllably resistive material connectedto the one or more medial actuators, the controllably resistive materialproviding a mechanical resistance upon receiving an input. The medialportion can further include a control device configured to control thefirst actuator, the second actuator, and the one or more medialactuators using one or more electrical inputs, and to create asomersault-like motion in the soft bodied structure relative to thesurface.

In further implementations, a soft bodied structure is disclosed. Thesoft bodied structure can include a first end portion configured tohydraulically actuate in response to a first input and to controllablyattach to a first contact point of a surface in response to theactuation of the first end portion. The soft bodied structure canfurther include a second end portion configured to hydraulically actuatein response to a second input and to controllably attach to a secondcontact point of the surface in response to the actuation of the secondend portion, wherein the first end portion and the second end portionattached to the surface in an alternating fashion. The soft bodiedstructure can further include a medial portion positioned between andconnected to the first end portion and the second end portion, themedial portion configured to expand substantially in one directioncreating an arch. The soft bodied structure can further include anelectrical device connected with the first end portion, the second endportion, and the medial portion, the electrical device configured tocontrol the actuation of the first end portion, the second end portion,and the medial portion using one or more electrical inputs.

In further implementations, a soft bodied structure is disclosed. Thesoft bodied structure can include two end portions, each of the endportions having an end portion actuator and a surface attachmentconfigured to attach to a surface upon actuation of the end portionactuator. The soft bodied structure can further include a medial portionpositioned between and connected to the end portions, the medial portionhaving an exterior medial surface. The medial portion can include one ormore medial actuators. The medial portion can further include acontrollably resistive material connected to the one or more medialactuators, the controllably resistive material providing a mechanicalresistance upon receiving an input. The soft bodied structure canfurther include a device control system for controlling the soft bodiedstructure to perform a somersaulting motion. The device control systemcan include one or more processors and a memory communicably coupled tothe one or more processors. The memory can store instructions to causethe soft bodied structure to attach to a first contact point on thesurface using the surface attachment and the end portion actuator of oneof the end portions, creating a first attached end portion and anunattached end portion. The memory can further store instructions toactuate the one or more medial actuators to cause the medial portion tomove such that the unattached end portion somersaults over the firstattached end portion. The memory can further store instructions to causethe soft bodied structure to attach to a second contact point on thesurface using the surface attachment and the end portion actuator of theunattached end portion, creating a second attached end portion. Thememory can further store instructions to cause the surface attachment ofthe first attached end portion to detach from the surface. The memorycan further store instructions to deactivate the one or more medialactuators and the controllably resistive material.

BRIEF DESCRIPTION OF THE DRAWINGS

So that the manner in which the above recited features of the presentdisclosure can be understood in detail, a more particular description ofthe disclosure, briefly summarized above, may be had by reference to theimplementations, some of which are illustrated in the appended drawings.It is to be noted, however, that the appended drawings illustrate onlytypical implementations of this disclosure and are therefore not to beconsidered limiting of its scope. The disclosure may admit to otherequally effective implementations.

FIG. 1 is a sectional view of a soft bodied actuator, according to oneor more implementations.

FIGS. 2A and 2B are exemplary illustrations of soft bodied structures,according to one or more implementations.

FIGS. 3A-3E are depictions of a series of movements from an exemplarysoft bodied structure, according to one or more implementations.

FIG. 4 is a computing device adaptable for use with one or moreimplementations described herein.

FIG. 5 is a device control system for the soft bodied structure,according to one or more implementations.

To facilitate understanding, identical reference numerals have beenused, wherever possible, to designate identical elements that are commonto the figures. Additionally, elements of one implementation may beadvantageously adapted for utilization in other implementationsdescribed herein.

DETAILED DESCRIPTION

The implementations disclosed herein generally relate to a soft bodiedstructure capable of a somersault-like movement. The implementationsdescribed can enable movement of a soft bodied structure. The softbodied structure can have various applications, including militaryand/or surveillance. In this example, the soft bodied structure caninclude one or more bladders in a variety of conformations, such as anelongated bladder, a series of bladders, or other configurations. Thebladder(s) can contain a dielectric liquid. The bladder(s) can have avariety of cross-sectional shapes, such as a rectangular shape.

The soft bodied structure can further include attachment devices, suchas hooks or other anchoring elements, at or near the longitudinal endsof the bladder(s). The attachment devices can be provided on one or moresides of the bladder(s). The soft bodied structure can further include aplurality of conductive portions, such as electrodes, distributed alongthe length of the bladder(s). The conductive portions can be provided inpairs on opposite sides of the bladder. The soft bodied structure caninclude flow restrictive devices or membranes, which can control theflow of the dielectric liquid within the bladder at that location. Inone or more implementations, the soft bodied structure can further beconfigured to perform a somersault motion, allowing the soft bodiedstructure to move over a variety of surfaces. The implementationsdisclosed herein are more clearly described with reference to thefigures below.

FIG. 1 is a sectional view of an actuator 100, according to one or moreimplementations. The actuator 100 can be a hydraulic actuator. As willbe described herein, the actuator 100 can be configured for connectionwith a surface and for moving one or more objects. The actuator 100 canhave a pliable or semi-pliable body, or can otherwise have a soft body.The actuator 100 can be an electrostatic device capable of displacingand/or affecting the flow of a fluid with the application of electriccharge. The application of opposite electric charges can be used toattract two or more conductive elements together into an actuatedposition. “Actuated position,” as used herein, refers to a position ofthe actuator in response to being activated. In one or moreimplementations, the actuated position can be achieved by delivering anelectrical input to conductive portions of a fluid-impermeable membrane,as described herein. As a result, opposing conductive portions of themembrane can be brought toward each other via electrostatic attraction.Thus, hydraulic force can be created within the fluid-impermeablemembrane. “Relaxed position,” as used herein, refers to a position ofthe actuator when not in an activated state. In the relaxed position,the actuator 100 can be in a state without an input that causeselectrostatic attraction to create a hydraulic force within themembrane. In one or more implementations, the relaxed position includesthe original shape or substantially the original of the membrane, inresponse to stopping the electrical input to the conductive portions.

The actuator 100 can be capable of changing shape in the presence of theelectric charge, causing fluid pressure to be applied to the portions ofthe actuator 100. This fluid pressure can then change the shape of theactuator 100, in relation to the elasticity of the fluid-impermeablemembranes 110 a and 110 b. Thus, the actuator 100 has a first shapewhich is maintained in the absence of an electrical input. The electriccharge to the actuator 100 can then be delivered, causing the actuator100 to achieve to a second state, which can include one or moreactivated shapes due to hydraulic forces. When the charge is removed,the actuator 100 can then return to substantially the first shape.

As shown here, the actuator 100 can include fluid-impermeable membranes110 a and 110 b and a dielectric fluid 114. The fluid-impermeablemembranes 110 a and 110 b can be composed of layers, such as externalinsulating portions 102 a and 102 b, conducting portions 104 a and 104b, and internal insulating portions 106 a and 106 b. “Portion,” as usedherein, relates to one or more components which form a layer, a portionof a layer, or structure in the fluid-impermeable membranes 110 a and110 b of the actuator 100. The portions can have non-uniform coverage orthickness, as desired. The portions above are described as a single,uniform element or layer for simplicity purposes. However, the portionscan include one or more of any of the layers, portions of layers, orvariations as disclosed herein. As such, the portions may only partiallyextend the dimensions of the fluid-impermeable membranes 110 a and 110b. As well, the portions of the fluid-impermeable membranes 110 a and110 b can meet to form a seal, such that a chamber or compartment 118 isformed in the inner region of the fluid-impermeable membrane 110 a and110 b. It should be noted that internal insulating portions 106 a and106 b can be the same structure, or they can be separate structures.Further, external insulating portions 102 a and 102 b can be separateportions, or they can be the same structure.

The fluid-impermeable membranes 110 a and 110 b, or components thereof(e.g., the external insulating portions 102 a and 102 b, the conductingportions 104 a and 104 b, and/or the internal insulating portions 106 aand 106 b), can be flexible and/or elastic at one or more points and/oracross one or more portions of the fluid-impermeable membranes 110 a and110 b. In one implementation, the fluid-impermeable membranes 110 a and110 b, or components thereof, are completely flexible and elastic. Inanother implementation, the fluid-impermeable membranes 110 a and 110 bare flexible across the entirety but only elastic across one or morestrips of the fluid-impermeable membranes 110 a and 110 b. In anotherimplementation, the fluid-impermeable membranes 110 a and 110 b areflexible and elastic at the external insulating portion 102 a and 102 band the internal insulating portions 106 a and 106 b, but neitherflexible nor elastic at the conducting portions 104 a and 104 b. Oneskilled in the art will understand the variety of combinations offlexibility, elasticity, and positioning of the portions of thefluid-impermeable membranes 110 a and 110 b, without further explicitrecitation of specific examples herein.

The external insulating portion 102 a and 102 b can form an exteriorsurface 108 of the fluid-impermeable membranes 110 a and 110 b. In oneimplementation, the external insulating portion 102 a and 102 b can formthe entire exterior surface of the fluid-impermeable membranes 110 a and110 b. The external insulating portion 102 a and 102 b can be flexibleand/or elastic at one or more portions. In one implementation, theexternal insulating portions 102 a and 102 b are entirely flexible andelastic. In another implementation, the external insulating portion 102a and 102 b can have interspersed regions of flexibility, or flexibilityand elasticity. The interspersed regions can be in a pattern or random,as desired. The external insulating portion 102 a and 102 b can form aninterface with the surface of one or more inner layers, such as theinternal insulating portions 106 a and 106 b and/or the conductingportions 104 a and 104 b.

The external insulating portion 102 a and 102 b can include a polymer,an elastomeric polymer (elastomer) or both. The use of a plurality ofdifferent encapsulating elastomers and/or polymers of varying degrees ofsoftness and hardness can be employed. The polymers used in theimplementations described herein can further include the addition of aplasticizer, such as phthalate esters. The polymers or elastomers may benatural or synthetic in nature. Examples of elastomers usable as part ofthe external insulating portion 102 a and 102 b can include aninsulating elastomer, such as nitrile, ethylene propylene diene monomer(EPDM), fluorosilicone (FVMQ), vinylidene fluoride (VDF),hexafluoropropylene (HFP), tetrafluoroethylene (TFE),perfluoromethylvinylether (PMVE), polydimethylsiloxane (PDMS), naturalrubber, neoprene, polyurethane, silicone, silicone rubber, orcombinations thereof. The external insulating portion 102 a and 102 bcan be described with regards to electrical insulation. The electricalinsulation of the external insulating portion 102 a and 102 b can bedescribed or selected in relation to the dielectric constant, or κvalue, of said material. The term “elastomer,” as used herein, means amaterial which can be stretched by an external force at room temperatureto at least twice its original length, and then upon immediate releaseof the external force, can return to its original length. Roomtemperature can generally refer to a temperature in a range of fromabout 20° C. to about 25° C. Elastomers, as used herein, can include athermoplastic, and may be cross-linked or thermoset.

The conducting portions 104 a and 104 b can be largely or entirelyinternal elements of the fluid-impermeable membranes 110 a and 110 b.The conducting portions 104 a and 104 b can be conductive to electricalcurrent, such that the conducting portion creates an electric field. Inone implementation, the conducting portions 104 a and 104 b can beformed between the external insulating portion 102 a and 102 b and theinternal insulating portions 106 a and 106 b. In another implementation,the conducting portions 104 a and 104 b can include hydrogels. Theconducting portions 104 a and 104 b can further include a polymer, anelastomeric polymer (elastomer) or both. Examples of elastomers usableas part of the conducting portions 104 a and 104 b can include nitrile,EPDM, fluorosilicone (FVMQ), vinylidene fluoride (VDF),hexafluoropropylene (HFP), tetrafluoroethylene (TFE),perfluoromethylvinylether (PMVE), polydimethylsiloxane (PDMS), naturalrubber, neoprene, polyurethane, silicone, or combinations thereof. Theconducting portions 104 a and 104 b can be composed or further include aconductive material, such as an electrically conductive dopant.Electrically conductive dopants can include silver, gold, platinum,copper, aluminum, or others. In further implementations, the conductingportions 104 a and 104 b can include inks and adhesives, for the purposeof flexibility and/or conductivity.

The internal insulating portions 106 a and 106 b can form an interiorsurface 112 of the fluid-impermeable membranes 110 a and 110 b. Theinternal insulating portions 106 a and 106 b can be composed of amaterial similar to that of the external insulating portion 102 a and102 b. In one or more implementations, the internal insulating portions106 a and 106 b can include an insulating elastomer, such as nitrile,EPDM, fluorosilicone (FVMQ), vinylidene fluoride (VDF),hexafluoropropylene (HFP), tetrafluoroethylene (TFE),perfluoromethylvinylether (PMVE), polydimethylsiloxane (PDMS), naturalrubber, neoprene, polyurethane, silicone, or combinations thereof. Inone or more implementations, the internal insulating portions 106 a and106 b can include polymers and elastomers having a high electricbreakdown voltage and not electrically conductive. The internalinsulating portions 106 a and 106 b can further include a protectivelayer 116. The protective layer 116 can be formed between the internalinsulating portions 106 a and 106 b and a dielectric fluid 114, as shownin FIG. 1. In some arrangements, the protective layer 116 can form apart of the interior surface 112. The protective layer 116 can beuniform or vary in size or composition. Further, the protective layer116 can be non-conductive and/or resistant to corrosion. In one or moreimplementations, the protective layer 116 is a flexible and corrosionresistant plastic, such as fluorinated ethylene propylene (FEP).

The fluid-impermeable membranes 110 a and 110 b can be sealed at one ormore edges, such that the fluid-impermeable membranes 110 a and 110 bcan form a fluid-impermeable compartment 118. However, in someimplementations, the fluid-impermeable membranes 110 a and 110 b (orportions thereof) may not be separate structures but instead are aunitary structure. The compartment can hold the dielectric fluid 114.The dielectric fluid 114 can be a fluid that is resistant to electricalbreakdown and/or provides insulation. In one or more implementations,the dielectric fluid 114 can prevent arcing between one or more opposinglayers (e.g., the opposing conducting portions 104). The dielectricfluid 114 can be a lipid based fluid, such as a vegetable oil-baseddielectric fluid. The dielectric fluid 114 can be ethylene glycol. Thedielectric fluid 114 can have an associated dielectric constant, or κvalue.

FIGS. 2A and 2B are illustrations of soft bodied structures 200 and 250,according to one or more implementations. The soft bodied structures 200and 250 can include a variety of components which can allow formultidirectional somersaulting movement. FIG. 2A is a side view of thesoft bodied structure 200, according to one or more implementations. Thesoft bodied structure 200 can be configured to create fluid pressure atone or more points, such that the soft bodied structure 200 cansomersault across a surface. “Somersault” or “flip,” as used herein,generally relates to a movement of an elongated object that includes afirst end of the object being brought over an opposite second end of theobject. The movement can include at least a portion of an elongatedobject revolving, curling, curving, arching, and/or bending over itself.

The soft bodied structure 200 can include a control unit 240, a firstend portion 210, a second end portion 230, and a medial portion 220. Thefirst end portion 210 can be connected with the medial portion 220 in alinear fashion, such as connected in series. As well, the second endportion 230 can be connected with the medial portion 220 in a linearfashion, such as connected in series. In the example shown here, thefirst end portion 210 is connected with the medial portion 220 which isconnected to the second end portion 230, in series. The use of “first”and “second” is not intended to imply order or directionality in thesoft bodied structure 200, as the device can operate in a variety ofdirections and the apparent positioning of the components can bereversed in a variety of ways. The first end portion 210, the second endportion 230, and the medial portion 220 can be different portions of thesame continuous body of the soft bodied structure 200.

The first end portion 210, the medial portion 220, and the second endportion 230 can be substantially similar to the actuator 100, describedwith reference to FIG. 1. As used herein, the term “substantially”includes exactly the term it modifies and slight variations therefrom.Thus, the term “substantially similar” means exactly the same and slightvariations therefrom. In this particular example, slight variationstherefrom can include within normal manufacturing tolerances, withinabout 10 degrees/percent or less, within about 5 degrees/percent orless, within about 4 degrees/percent or less, within about 3degrees/percent or less, within about 2 degrees/percent or less, orwithin about 1 degrees/percent or less.

The first end portion 210 can include a fluid-impermeable membrane 212.The fluid-impermeable membrane 212 can include conductive portions 214.The conductive portions 214 can be positioned to compress thefluid-impermeable membrane 212 upon receiving an electric input. In oneexample, the conductive portions 214 can be positioned on substantiallyopposing sides or portions of the fluid-impermeable membrane 212. Thoughshown here as two conductive portions 214, the conductive portions 214can include more than two.

Further, the conductive portions 214 can be configured in a pair orother groups, such that the conductive portions 214 are capable ofselectively compressing at least a portion of the fluid-impermeablemembrane 212. The conductive portions 214 can be substantially similarto the conductive portions 104 a and 104 b, described with reference toFIG. 1. The fluid-impermeable membrane 212 can at least partially definea first chamber 217. The first chamber 217 can contain a dielectricfluid 218. The dielectric fluid 218 can be substantially similar to thedielectric fluid 114, described with reference to FIG. 1.

The first end portion 210 can further include one or more surfaceattachments 216, depicted here as two (2) surface attachments 216. Thesurface attachments 216 can be one or more devices capable of attachingto and detaching from a surface. In one or more implementations, thesurface attachments 216 can be hooks, needles, pins, spikes, a grippingdevice, combinations thereof, pluralities thereof, or other devices forattaching the first end portion 210 to the surface. In one or moreimplementations, the surface attachments 216 can attach to a surface inresponse to a hydraulic force applied to the first end portion 210. Forinstance, the surface attachments 216 can engage or embed into asurface. The surface attachments 216 can include a rigid material, suchas a plastic, a metal, or combination thereof.

Various parameters of the surface attachments 216 can be altered tocreate a connection. Examples of some parameters can include positioningof the surface attachments 216 with respect to the first end portion210, the spacing of the surface attachments 216 with respect to eachother, actuation of a mechanism (e.g., a pliers-like gripping device),or others.

The medial portion 220 can be positioned in line with the first endportion 210. The medial portion 220 can include one or morefluid-impermeable membranes 222. The fluid-impermeable membranes 222 canbe a different portion of the membrane for the soft bodied structure200. The fluid-impermeable membranes 222 can include conductive portions224. The conductive portions 224 can be positioned to compress thefluid-impermeable membrane 222 upon receiving an electric input. In oneexample, the conductive portions 224 can be positioned at regular orirregular intervals along a single fluid-impermeable membrane 222. Theconductive portions 224 can be positioned on substantially opposingsides of the fluid-impermeable membrane 222. The conductive portions 224can be configured in a pair or other groups, such that the conductiveportions 224 are capable of compressing at least a portion of thefluid-impermeable membrane 222 when they move toward each other. Theconductive portions 224 can be substantially similar to the conductiveportions 104 a and 104 b, described with reference to FIG. 1. Thefluid-impermeable membranes 222 can form one or more medial chambers227. The medial chambers 227 can contain a dielectric fluid 228. Thedielectric fluid 228 can be substantially similar to the dielectricfluid 114, described with reference to FIG. 1.

The medial portion 220 can further include one or more controllablyresistive material layers 226. In this example, the soft bodiedstructure 200 is depicted with two (2) controllably resistive materiallayers 226. However, in some implementations, they can be a singlelayer. In further implementations, the controllably resistive materiallayers 226 can comprise panels which substantially cover the exterior ofthe medial portion 220. In one example, the one or more controllablyresistive material layers can include numerous individual layers whichsurround an exterior surface of the medial portion. The controllablyresistive material layers 226 are layers of a material which can becontrollably made to resist stretch, bend or other distortion based on afirst input, such as an electrical input. Then, in response toadditional input or removal of the first input, the controllablyresistive material layers 226 can then be brought back to an originallevel of elasticity, malleability, or other distortion characteristics.The controllably resistive material layers 226 can be an electroactivepolymer, such as piezoelectric polymers, ionic polymer metal composites,or others. In further implementations, the controllably resistivematerial layers 226 can include a series of actuators, such as theactuators 100, to create resistance to deformation on one side of thefluid-impermeable membrane 222. The controllablly resistive materiallayers 226 can allow the material characteristics to be altered inindividual areas of the controllably resistive material layers 226 oracross the entire controllably resistive material layer 226.

The second end portion 230 can be positioned in line with and extendfrom the medial portion 220. The second end portion 230 can include afluid-impermeable membrane 232. The fluid-impermeable membranes 232 canbe a continuation of the fluid-impermeable membrane 222. Thefluid-impermeable membrane 232 can include conductive portions 234. Theconductive portions 234 can be positioned to compress thefluid-impermeable membrane 232 upon receiving an electric input. Asshown here, the conductive portions 234 can be positioned onsubstantially opposing sides or portions of the fluid-impermeablemembrane 232 at one side. The conductive portions 234 can be positionedsuch that they deliver a significant portion of the hydraulic force tothe distal end of the fluid-impermeable membrane 232. As with theconductive portions 214, the conductive portions 234 can be configuredsuch that the conductive portions 234 are capable of selectivelycompressing at least a portion of the fluid-impermeable membrane 232.The conductive portions 234 can be substantially similar to theconductive portions 104 a and 104 b, described with reference to FIG. 1.The fluid-impermeable membrane 232 can at least partially define asecond chamber 237. The second chamber 237 can contain a dielectricfluid 238. The dielectric fluid 238 can be substantially similar to thedielectric fluid 114, described with reference to FIG. 1.

The second end portion 230 can further include one or more surfaceattachments 236, depicted here as two (2) surface attachments 236. Thesurface attachments 236, similar to the surface attachments 216, can beone or more devices capable of attaching and detaching to a surface. Inone or more implementations, the surface attachments 236 can be hooks,needles, pins, spikes, a gripping device, combinations thereof,pluralities thereof, or other devices for attaching the second endportion 230 to the surface. In one or more implementations, the surfaceattachments 236 can attach to a surface in response to a hydraulic forceapplied to the second end portion 230. The surface attachments 236 caninclude a rigid material, such as a plastic, a metal, or combinationthereof, and can be positioned such that they are in contact with asurface.

The second end portion 230 can further include the one or more sensors245. “Sensor,” as used herein generally relates to any device, componentand/or system that can detect, and/or sense something. The one or moresensors can be configured to detect, and/or sense in real-time. As usedherein, the term “real-time” means a level of processing responsivenessthat a user or system senses as sufficiently immediate for a particularprocess or determination to be made, or that enables the processor tokeep up with some external process. The one or more sensors 245 caninclude cameras, microphones, accelerometers, gyroscopes, and others asdesired for collecting information about an environment or the softbodied structure 200. Though shown as connected with the second endportion 230, the location of the one or more sensors 245 is not intendedto be limiting. The one or more sensors 245 can be located in anylocation on the soft bodied structure 200 which does not expresslyprevent the function of said sensors 245 and/or interfere with themotion of the soft bodied structure 200.

Various parameters of the surface attachments 236 can be altered tocreate at least a desired (e.g., temporary, semi-permanent, etc.)connection to the surface. Parameters can include positioning of thesurface attachments 236 with respect to the second end portion 230, thespacing of the surface attachments 236 with respect to each other,actuation of a mechanism (e.g., a pliers-like gripping device), orothers. Further, though described as substantially similar to the firstend portion 210, the second end portion 230 can differ substantiallyfrom the first end portion 210, such as differences in component types,compositions, shapes, positioning or others, as noted for the variousimplementations of components used herein.

FIG. 2B is a side view of the soft bodied structure 250, according toone or more implementations. The soft bodied structure 250 can beconfigured to create fluid pressure at one or more points, such that thesoft bodied structure 250 can somersault across a surface. The softbodied structure 250 can include a first end portion 260, a medialportion 270, a second end portion 280, and a control unit 290. The firstend portion 260 can be connected with the medial portion 270 in a linearfashion, such as connected in series. As well, the second end portion280 can be connected with the medial portion 270 in a linear fashion,such as connected in series. In the example shown here, the first endportion 260 is fluidly connected with the medial portion 270 which isfluidly connected to the second end portion 280, in series. The fluidconnection allows for increased inter-chamber hydraulic control. Thefirst end portion 260, the medial portion 270, and the second endportion 280 can be substantially similar to the actuator 100, describedwith reference to FIG. 1.

The first end portion 260 can include a fluid-impermeable membrane 262.The fluid-impermeable membrane 262 can include conductive portions 264.The conductive portions 264 can be positioned to compress thefluid-impermeable membrane 262 upon receiving an electric input. In oneexample, the conductive portions 264 can be positioned on substantiallyopposing sides of the fluid-impermeable membrane 262. The conductiveportions 264 can be substantially similar to the conductive portions 104a and 104 b, described with reference to FIG. 1. The fluid-impermeablemembrane 262 can form a first chamber 267. The first chamber 267 cancontain a dielectric fluid 268. The dielectric fluid 268 can besubstantially similar to the dielectric fluid 114, described withreference to FIG. 1.

The first end portion 260 can further include one or more surfaceattachments 266, depicted here as four (4) surface attachments 266. Thesurface attachments 266 can be one or more devices capable of reversiblyattaching to a surface. In one or more implementations, the surfaceattachments 266 can be hooks, needles, a gripping device, combinationsthereof, pluralities thereof, or other devices for attaching the firstend portion 260 to the surface. In one or more implementations, thesurface attachments 266 can attach to a surface in response to ahydraulic force applied to the first end portion 260. Shown here, thesurface attachments 266 can be configured to separate upon a hydraulicpressure being applied to the fluid-impermeable membrane 262. Thesurface attachments 266 can include a rigid material, such as a plastic,a metal, or combination thereof. Further, the surface attachments 266can be positioned such that they are in contact with a surface, such asembedding into the surface. Here, the various parameters of the surfaceattachments 266 can be altered to create a connection, described abovewith reference to FIG. 2A.

The first end portion 260 can further include the one or more sensors295. The sensor 295 as used herein can be substantially similar to theone or more sensors 245, described with reference to FIG. 2A. The one ormore sensors 245 can include cameras, microphones, accelerometers,gyroscopes, and others as desired for collecting information about anenvironment or the soft bodied structure 200. Though shown as connectedwith the first end portion, the location of the one or more sensors 295is not intended to be limiting. The one or more sensors 295 can belocated in any location which does not expressly prevent the function ofsaid sensors 295.

The medial portion 270 can be positioned in line with the first endportion 260. The medial portion 270 can include one or morefluid-impermeable membranes 272. Each of the fluid-impermeable membranes272 can include conductive portions 274. The conductive portions 274 canbe positioned to compress the fluid-impermeable membrane 272 uponreceiving an electric input. In one example, the conductive portions 274are positioned at specific intervals along the fluid-impermeablemembrane 272. The conductive portions 274 can be positioned onsubstantially opposing sides of the fluid-impermeable membrane 272. Theconductive portions 274 can be configured in a pair or other groups,such that the conductive portions 274 are capable of compressing atleast a portion of the fluid-impermeable membrane 272. The conductiveportions 274 can be substantially similar to the conductive portions 104a and 104 b, described with reference to FIG. 1. The fluid-impermeablemembranes 272 can form one or more medial chambers 277. The medialchambers 277 can contain a dielectric fluid 278. The dielectric fluid278 can be substantially similar to the dielectric fluid 114, describedwith reference to FIG. 1.

The medial portion 270 can further include one or more controllablyresistive material layers 276. In this example, the soft bodiedstructure 250 is depicted with two (2) controllably resistive materiallayers 276. The controllably resistive material layers 276 are layers ofa material which can be controllably made to resist stretch, bend orother distortion based on a first input. Then, in response to additionalinput or removal of the first input, the controllably resistive materiallayers 276 can then be brought back to an original level of elasticity,malleability, or other distortion characteristics. The controllablyresistive material layers 276 can be an electroactive polymer, such aspiezoelectric polymers, ionic polymer metal composites, or others. Infurther implementations, the controllably resistive material layers 276can include a series of actuators, such as the actuators 100, to createresistance to deformation on one side of the fluid-impermeable membrane272. In further implementations, the one or more controllably resistivematerial layers 276 can be one or more hinges or other rigid mechanismsfor directionally controlling movement. Thus, the one or morecontrollably resistive material layers 276 can provide controllabilityto affect the somersaulting motion in conjunction with one or morefurther components described herein.

The second end portion 280 can be positioned in line with and extendfrom the medial portion 270. The second end portion 280 can include afluid-impermeable membrane 282. The fluid-impermeable membrane 282 caninclude conductive portions 284. The conductive portions 284 can bepositioned to compress the fluid-impermeable membrane 282 upon receivingan electric input. As shown here, the conductive portions 284 can bepositioned on substantially opposing sides of the fluid-impermeablemembrane 282 at one side. The conductive portions 284 can be positionedsuch that they deliver a significant portion of the hydraulic force tothe distal end of the fluid-impermeable membrane 282. As with theconductive portions 264, the conductive portions 284 can be configuredsuch that the conductive portions 284 are capable of compressing atleast a portion of the fluid-impermeable membrane 282. The conductiveportions 284 can be substantially similar to the conductive portions 104a and 104 b, described with reference to FIG. 1. The fluid-impermeablemembrane 282 can form a second chamber 287. The second chamber 287 cancontain a dielectric fluid 288. The dielectric fluid 288 can besubstantially similar to the dielectric fluid 114, described withreference to FIG. 1.

The second end portion 280 can further include one or more surfaceattachments 286, depicted here as two (2) surface attachments 286. Thesurface attachments 286, similar to the surface attachments 266, can beone or more devices capable of reversibly attaching to a surface. In oneor more implementations, the surface attachments 286 can be hooks,needles, a gripping device, combinations thereof, pluralities thereof,or other devices for attaching the second end portion 280 to thesurface. Shown here, the surface attachments 286 are hooks. In one ormore implementations, the surface attachments 286 can attach to asurface in response to a hydraulic force applied to the second endportion 280. In this example, the surface attachments 286 are configuredto rotate slightly toward the medial portion 270 when the conductiveportions 284 create hydraulic pressure on the fluid-impermeable membrane282. The surface attachments 286 can include a rigid material, such as aplastic, a metal, or combination thereof, and can be positioned suchthat they are in contact with a surface. Further, as shown here, thesurface attachments 286 can differ substantially from the surfaceattachments 266, such as differences in component types, compositions,shapes, positioning, or others. The various parameters of the surfaceattachments 286 can be altered to create at least a semi-permanentconnection to the surface, as described above with reference to thesurface attachments 236 of FIG. 2A.

As shown here, the soft bodied structure 250 can be fluidly connectedacross the first end portion 260, the medial portion 270, and the secondend portion 280 using a plurality of controllably permeable membranes292. The controllably permeable membranes 292 can allow flow between thechambers when the proximate conductive portions are not actuated.Further, the flow of the dielectric fluid 268, 278, and 288 can bereduced or controlled by the controllably permeable membranes 292, suchas by pores, valves, closable components or others as desired. As such,the fluid pressure created in one portion (e.g., the medial portion 270)can be controlled and transmitted between the remaining portions (e.g.,the first end portion 260 and the second end portion 280).

The soft bodied structure 250 can further include the control unit 290.The control unit 290 can be a device which provides instructions tocoordinate movement of the soft bodied structure 250. In someimplementations, the control unit 290 can be a computing device, whichis described in greater detail with respect to FIG. 4 below. In furtherimplementations, the control unit 290 can be a communications device forreceiving instructions from a remote source, such as a computing deviceor a user. The control unit 290 can be in electrical communication withone or more components of the soft bodied structure 250, such as theconductive portions 264, 274 and 284, and/or the controllably resistivematerial layers 276. The electrical communication can be wires, wiretraces, layers of conductive material, or others, such that electricitycan be transmitted from the control unit 290 to the desired component ofthe soft bodied structure 250.

When described in reference to the actuator 100 of FIG. 1, the softbodied structures 200 and 250 can be connected through a variety offormations or combinations of one or more implementations of theactuator 100. As shown in FIG. 2A, the soft bodied structure 200 can bedescribed as a linear combination of one (1) actuator 100 forming thefirst end portion 210, three (3) fluidly connected actuators 100 formingthe medial portion 220, and one (1) actuator 100 forming the second endportion 230. As shown in FIG. 2B, the soft bodied structure 250 can bedescribed as a linear combination of five fluidly connected actuators,having one (1) actuator 100 forming the first end portion 260, three (3)fluidly connected actuators 100 forming the medial portion 270, and one(1) actuator 100 forming the second end portion 280. The formations orcombinations of the actuator 100 can include one or more actuators, orcomponents thereof, forming the end portions or the medial portions ofthe soft bodied structures 200 and 250.

Thus, the soft bodied structures 200 and 250 can move and interact fornumerous applications, such as for military and industrial purposes.Through a series of sequential or simultaneous actuations, the softbodied structures 200 and 250 can connect with a surface using a firstend and bend to attach a second end to a further point on the surface.The soft bodied structures 200 and 250 are capable of traversing avariety of terrains by a somersaulting motion, allowing the soft bodiedstructures 200 and 250 to ignore certain difficulties, such as rugged orlow traction surfaces.

FIGS. 3A-3E depict a soft bodied structure 300 performing a variety ofmotions in an environment, according to one or more implementations. Asdescribed above, the soft bodied structure can include a first endportion 310, a medial portion 320 and a second end portion 330. In asequence of actions, the soft bodied structure 300 can move along asurface 340. The soft bodied structure 300 can connect to a surface atthe first end portion 310. With the first end portion 310 connected tothe surface, the medial portion 320 can undergo a somersaulting motionto bring the second end portion 330 over a first end portion 310. Thesecond end portion 330 can be connected to the surface at a newposition. The soft bodied structure 300 can then release the medialportion 320 and the first end portion 310. At this point, the softbodied structure 300 will have moved, and the soft bodied structure 300can rest of the surface in an “upside down” orientation relative to itsorientation before performing the above sequence of actions.

The movement of the soft bodied structure 300 can begin with FIG. 3A.FIG. 3A depicts the soft bodied structure 300 initiating a somersaultmovement, according to one or more implementations. Shown here is thefirst end portion 310 marked with a numerical indicator 1, to show thesteps of movement. The first end portion 310 includes a surfaceattachment 316 and a fluid-impermeable membrane 312. Thefluid-impermeable membrane 312 can include opposing conductive portions314 and can contain a dielectric fluid 318. Here, the first end portion310 of the soft bodied structure 300 is shown with the conductiveportions 314 actuated. The actuation of the conductive portions 314causes the conductive portions 314 to move toward each other. As aresult, hydraulic pressure can be created in the first end portion 310,which can cause expansion of a distal end portion of thefluid-impermeable membrane 312. The expansion can force at least one ofthe surface attachments 316 into connection with a surface 340. Theconnection of the surface attachment 316 to the surface 340 can be asdescribed above with reference to FIGS. 2A and 2B. The soft bodiedstructure 300 can further include one or more sensors 345. The sensors345 can be substantially similar to the sensors 245, described withreference to FIG. 2A.

The medial portion 320 and the second end portion 330 of the soft bodiedstructure 300 can be deactivated or in a relaxed position during thistime. The conductive portions 324 and 334 are not receiving anelectrical input. The first end portion 310 can be fluidly separatedfrom the medial portion 320 and the second end portion 330, such as by aflow stopper. In this way, the dielectric fluid 318 can deliverhydraulic force to the fluid-impermeable membrane 312, without applyingforce to the medial portion 320 or the second end portion 330.

FIG. 3B depicts a subsequent moment in time in which the soft bodiedstructure 300 performs a further action in the somersault movement,according to one implementation. The first end portion 310 is shown herehaving the surface attachment 316 and the fluid-impermeable membrane 312with the conductive portions 314 actuated. Thus, the surface attachments316 are in connection with the surface 340. Then, an electrical input isprovided to the controllably resistive material layer 326. The medialportion 320 can then be more resistive to flexing or stretching in atleast one direction (i.e., the controllably resistive material layer 326is resisting movement in at least one direction). This can be done indiscrete areas of the controllably resistive material layer 326 oracross the entire controllably resistive material layer 326. In someimplementations, the controllably resistive material layer 326 can beactivated in such a way to provide a bend or other movement in a desireddirection, such as the direction of rotation for later movements. Themedial portion 320 and the second end portion 330 of the soft bodiedstructure 300 can be maintained in a relaxed position during this time.

FIG. 3C depicts a subsequent moment in time in which the soft bodiedstructure 300 performs a further action in the somersault movement,according to one implementation. Here, the first end portion 310 isshown with maintained connection with the surface 340, as describedabove. Further, the electrical input can be maintained to thecontrollably resistive material layer 326. The medial portion 320 canthen be actuated to an actuated position by activating the opposingconductive portions 324. The conductive portions 324 can be activated byan electrical input. The electrical input can be delivered to theconductive portions 324 from a control unit, as described with referenceto FIGS. 2A and 2B, and/or using any suitable power source (e.g., abattery). The conductive portions 324 can be actuated in unison or inany order such that hydraulic force is delivered to thefluid-impermeable membrane 322. In one example, the conductive portions324 are actuated in pairs, starting from the most distant side of themedial portion 320. As a result, the conductive portions 324 on theupper side of the soft bodied structure 300 (as shown in FIGS. 3A-3B)can have a first charge, and the conductive portions 324 on the lowerside of the soft bodied structure 300 (as shown in FIGS. 3A-3B) can havea second charge that is opposite to the first charge.

As the pairs of opposing conductive portions 324 are attracted towardeach other due to their opposite charges, the dielectric fluid 318 canbe forced in the lateral direction away from the interface. However, dueto a limited space within the medial chamber 327, hydraulic pressure candevelop within the medial chamber 327. The hydraulic pressure can beexerted on the fluid-impermeable membrane 322. The hydraulic pressurecauses the regions between the conductive portions 324 to expand outward(e.g., bulge). As a result, it can cause the soft bodied structure 300to bend in the direction of the controllably resistive material layer326 as activated in FIG. 3B. This expansion and bend results in thesecond end portion 330 to pass over the first end portion 310 in asomersault movement. The second end portion 330 of the soft bodiedstructure 300 can be maintained in a relaxed position during this time.The second end portion 330 can be located on or near the surface 340.

FIG. 3D depicts a subsequent moment in time in which the soft bodiedstructure 300 performs a further action of the somersault movement,according to one implementation. The first end portion 310 can bemaintained in connection with the surface 340. The second end portion330 can then be actuated to an actuated position by activating theopposing conductive portions 334. The actuation of the conductiveportions 334 creates a hydraulic pressure, as described with relation tothe first end portion 310, to bring at least one of the surfaceattachments 336 into connection with a surface 340. The connection ofthe surface attachment 336 to the surface 340 can further includeelements as described above with reference to FIGS. 2A and 2B.

Once the second end portion 330 is attached to the surface 340 or anytime hereafter, the first end portion 310 and the controllably resistivematerial layer 326 of the soft bodied structure 300 can be deactivatedor in the relaxed position. The second end portion 330 can be fluidlyseparated from the medial portion 320 and the first end portion 310. Inthis way, the dielectric fluid 338 can deliver hydraulic force to thefluid-impermeable membrane 332, without applying force to the medialportion 320 or the first end portion 310.

FIG. 3E depicts a subsequent moment in time in which the soft bodiedstructure 300 performs a further action in the somersault movement,according to one implementation. The first end portion 310 is shown herehaving the surface attachment 316 and the fluid-impermeable membrane 312with the conductive portions 314 deactivated. Thus, the surfaceattachments 316 can be detached from the surface 340. Further, anelectrical input can be removed from the controllably resistive materiallayer 326 and the conductive portions 324. Thus, the medial portion 320can then be relaxed in all directions.

The second end portion 330 can be deactivated or in a relaxed positionby deactivating the conductive portions 334, such as by discontinuingelectrical input to the conductive portions 334. Thus, the second endportion 330 can be detached from the surface 340. At this point, thesoft bodied structure 300 will have moved along the surface 340, and thesoft bodied structure 300 can rest of the surface in an “upside down”orientation relative to its initial orientation in FIG. 3A.

It is understood that the steps shown in FIGS. 3A-3E can be repeated insequence, which, in some cases, can create a continuous motion. Tocontinue motion from FIG. 3E, the first end portion 310 and the secondend portion 330 are reversed in the sequence, such that the actuationsin FIG. 3A involve the second end portion 330 rather than the first endportion 310. This sequence is then continued and can result in the firstend portion 310, the medial portion 320 and the second end portion 330of the soft bodied structure 300 are back in the original orientation(i.e., two somersaults in the same direction).

Thus, through the elements described above, the soft bodied structure300 can move across a surface 340. The soft bodied structure 300 iscapable of crossing a wide variety of surfaces, moving in confined areasand overcoming obstacles. Thus, the soft bodied structure 300 can beapplied to non-traditional terrains, such as off-road or harshenvironments.

In further embodiments, a method for somersaulting motion is disclosed.The method can include the operation of a soft bodied structure asdescribed above. The soft bodied structure can include a series ofactuators, such as a series of soft bodied hydraulic actuators. Themethod of operating the soft bodied structure can include activating anactuator at the first end portion of the soft bodied structure to causea first surface attachment to engage the surface. The method ofoperating the soft bodied structure can further include activating theplurality of actuators in the medial portion to cause the medial portionto undergo a somersaulting motion such that the second end portion movesover the second end portion. In further implementations, the method caninclude activating the actuator at the second end portion of the softbodied structure to cause a second surface attachment to engage thesurface. In yet further implementations, the method can includedeactivating the actuator at the first end portion of the soft bodiedstructure to cause the first attachment to disengage the surface. In yetfurther implementations, the method can include deactivating theplurality of actuators in the medial portion to cause the medial portionto substantially return to a non-activated shape. In yet furtherimplementations, the method can include deactivating the actuator at thesecond end portion of the soft body structure to cause the second anchorto disengage the surface.

FIG. 4 is a block diagram of the computing device 400 usable with thesoft bodied structure described above, according to one or moreimplementations. The computing device 400 can be any appropriate type ofcomputing device such as, but not limited to, a server, a personalcomputer (PC), workstation, embedded computer, or stand-alone devicewith a computational unit, such as a microprocessor, DSP (digital signalprocessor), FPGA (field programmable gate array), or ASIC (applicationspecific integrated circuit), or others. The computing device 400 cancontain various components for performing the functions that areassigned to the said computing device. The components can include aprocessor 404, like a central processing unit (CPU), a memory 406, apower source 408, communications device 410, input and/or outputdevices, and at least one bus 416 that connects the components above. Insome implementations, one or more of these components are at leastpartially housed within a housing 418.

The processor 404, which can also be referred to as a CPU, can be adevice which is capable of receiving and executing one or moreinstructions to perform a task as part of a computing device. In oneimplementation, the processor 404 can include a microprocessor such asan application specific instruction set processor (ASIP), graphicsprocessing unit (GPU), a physics processing unit (PPU), a DSP, an imageprocessor, a co-processor, or others. Though referenced as the processor404, it is understood that one or more processors 404 can be used in oneor more implementations described herein, including combinations ofprocessors 404.

The memory 406 is any hardware that is capable of storing data orinformation. Examples of data or information which can be stored in thememory 406 include, without limitation, data, program code in functionalform, and/or other suitable information either on a temporary basisand/or a permanent basis. The memory 406 can include one or more modulesthat include computer-readable instructions that, when executed by theprocessor 404, cause the processor 404 to perform methods and functionsthat are discussed herein. The memory 406 can include volatile and/ornon-volatile memory. The memory 406 can further include acomputer-readable storage medium. Examples of suitable memory 406include RAM (Random Access Memory), flash memory, ROM (Read-OnlyMemory), PROM (Programmable Read-Only Memory), EPROM (ErasableProgrammable Read-Only Memory), EEPROM (Electrically ErasableProgrammable Read-Only Memory), registers, magnetic disks, opticaldisks, hard drives, or any other suitable storage medium, or anycombination thereof.

The memory 406 can be a component of the processor(s) 404, or the memory406 can be operably connected to the processor(s) 404 for use thereby.The memory 406 can include an operating system 420, such as LINUX. Theoperating system 420 can include batch, live, time sharing, real-time,and other types of operating systems. The operating system 420, asdescribed herein, can include instructions for processing, accessing,writing, storing, searching data, or other functions as selected by theuser for controlling and providing an interface with the computingdevice 400. The memory 406 can include communications procedures forcommunicating with the network 490, the soft bodied structure 300,and/or another computing device.

The communication device 410 can be wired or wireless connectioncomponents and/or software allowing the computing device 400 tocommunicate with other computing devices. The communication device 410can allow communication with devices either locally or remotely, such asover a network protocol (e.g., Ethernet or similar protocols). In oneexample, the computing device 400 is connected to the network 490 usingthe communication device 410. The communication device 410 can furtherbe connected with remote devices associated with other computingdevices. In further implementations, the computing device 400 canconnect with one or more computing devices, allowing access to one ormore sensors, which are connected to or in connection with the secondcomputing device.

The computing device 400 can further include a device control system 470or components thereof. As described herein, certain components of thedevice control system 470 can be stored in the control unit 240, thecontrol unit 290, the computing device 400 or combinations thereof. Assuch, one or more implementations of the device control system 470 caninclude the device control system 470, modules thereof, or componentsthereof as being stored, collected, created, compared or otherwise madeavailable from the memory 406 or the database 422 of the computingdevice 400. When stored as part of the computing device 400, the devicecontrol system 470 can access the soft bodied structure 300, anothercomputing device 400, or other devices through the communications device410 and the network 490, allowing for continuity between the one or morecomponents which comprise the device control system 470.

In one or more implementations, the computing device 400 can be incommunication with a soft bodied structure, such as the soft bodiedstructure 200 and 250, described with reference to FIGS. 2A and 2B. Thecomputing device 400 can interact with the soft bodied structure throughinstructions from the device control system 470. In some arrangements,one or more elements of the computing device 500 can be located on or inthe soft bodied structure.

The discussion of the device control system 470 begins at FIG. 5, withan illustration of the device control system 470, according to oneimplementation. The device control system 470 is shown as including theprocessor 404 from the computing device 400, depicted in FIG. 4.Accordingly, the processor 404 can be a part of the device controlsystem 470, the device control system 470 can include a separateprocessor from the processor 404 or the device control system 470 canaccess the processor 404 through a data bus or another communicationpath. In one implementation, the device control system 470 includes thememory 514 that can store an attachment module 520, a folding module530, and/or a repositioning module 540. The memory 514 can be a RAM,ROM, a hard disk drive, a flash memory, or other suitable memory forstoring the modules 520, 530, and 540. The modules 520, 530, and 540are, for example, computer-readable instructions that when executed bythe processor 404, cause the processor 404 to perform the variousfunctions disclosed herein.

Further, one or more sensors can be used for collection of data as partof the device control system 470. The one or more sensors 245 cancollect sensor data about the environment. “Sensor data,” as usedherein, generally relates to any information collected by the sensorsthat the soft bodied structure 200 is equipped with, including thecapabilities and other information about the sensors themselves. As anexample, in one or more implementations, the sensor data can be storedas part of the include information from one or more of cameras,microphones, or others of the one or more sensors 245. In someimplementations, at least a portion of the sensor data can be located inone or more data stores, such as the database 510 as part of the devicecontrol system 470. Alternatively, or in addition to, at least a portionof the sensor data can be located in one or more data stores that arelocated remotely from the soft bodied structure 200, such as thedatabase 422 of the computing device 400.

The device control system 470 can further include a database 510. Thedatabase 510 can be presented in some configurations, including as partof the memory 514, as an independent component from the memory 514, aspart of a separate memory (distinct from memory 514), or others. Thedatabase 510 can include control data 560 and mapping information 570.The control data 560 can include data sets as detected or determinedabout each of the actuators regarding the order of operation, maximumdeformation, current deformation, useful life and other details whichcan be used to control the soft bodied structure during use. The mappinginformation 570 can include information related to the currentenvironment or others which can provide benefit to the mobility of thesoft bodied structure. The device control system 470 or portionsthereof, can be stored as part of the computing device 400, as part of aserver, or others. As such, one or more of the functions of the devicecontrol system 470 or of the modules contained therein, can be performedremotely and transferred to the soft bodied structure as part of theimplementations described herein.

The attachment module 520 can generally include instructions thatfunction to control the processor 404 to connect to cause the softbodied structure to connect to a first contact point of a surface usinga surface attachment and the actuator associated with the respective endportion. The first contact point is a point or area on the surface wherethe surface attachment engages the surface. The attachment module 520can, through instructions to the processor 404, cause the end portionactuator to actuate and create hydraulic pressure on the membrane of theend portion. This actuation can cause the surface attachment to attachto the surface. The attachment of the surface attachment to the surfacecan be substantially similar to the surface attachment described withreference to FIGS. 3A-3E. The attachment module 520 can access controldata 560, as stored in the database 510, to determine the actuators tocontrol, the force of actuation required and other information relatedto desired attachment to the surface.

The actuation, relaxation, or another controlled event can be controlledby an activation signal. The activation signal is a signal from a useror an object for creating a response in the soft bodied structure. Theactivation signal can be delivered by the attachment module 520 based onthe modulation of a switch, predetermined instructions, or others. Whendelivered from a user, the activation signal can be received directly bythe attachment module 520 or through a network, such as the network 490.The activation signal can further include individualized input or groupinput for one or more soft bodied structures that are in connection withthe device control system 470. In another implementation, the activationsignal is a signal delivered by the user indicating the desire toprogram or control the soft bodied structure, according toimplementations described herein. The activation signal or the input canbe stored as part of the control data 560, such as in the database 510.

In some implementations, the attachment module 520 can further includeinstructions to selectively increase or decrease the rigidity of asection of spacer regions when such regions include a controllablyresistive material. The controllably resistive material can besubstantially similar to the controllably resistive material layers 226and 276, as described above with reference to FIGS. 2A and 2B. Inembodiments in which the rigidity of the spacer regions arecontrollable, the attachment module 520 can increase the rigidity of thecontrollably resistive material by delivering an electrical input. Theselection of which spacer region(s) to activate can be determined by thedesired direction, as determined from the mapping information 570. Themapping information 570 can be stored as part of the database 510.

The folding module 530 can generally include instructions that functionto control the processor 404 to actuate the medial actuators toselectively expand an exterior medial surface of the medial portion. Themedial actuators can include a series of conductive portions in themedial portion, as described with reference to FIGS. 2A and 2B. Theconductive portions of the medial portion can be actuated in a specificorder, such as from the attached end portion to the unattached endportion. In further implementations, the conductive portions can beactivated and actuated simultaneously. The order of actuation can becontrolled based on information in the control data 560, such as forcreating expansion in the desired regions to create a specific bend,controlling distribution of the dielectric fluid within thefluid-impermeable membrane, or others. The expansion of the exteriormedial surface can create a bend around the controllably resistivematerial. This bend can bring the unconnected end region over theconnected end region and in contact with a second contact point on thesurface.

The folding module 530 can further include instructions to attach theunattached end portion to a second contact point, creating a secondattached end portion. The second contact point, similar to the firstcontact point, can be a point or area on the surface where the endportion actuator and the related surface attachment is at or near thesurface. Through instructions to the processor 404, the folding module530 can cause the unattached end portion actuator to actuate and createhydraulic pressure on the fluid-impermeable membrane of said actuator.This actuation can cause the surface attachment to attach to the surfaceat the second contact point, which holds the soft bodied structure inthe bent or folded position. The attachment of the surface attachment tothe surface can be substantially similar to the surface attachment 316,described with reference to FIGS. 3A-3E. The folding module 530 canaccess control data 560, as stored in the database 510, to determine theactuators to control, the force of actuation required and otherinformation related to desired attachment to the surface.

The repositioning module 540 can generally include instructions thatfunction to control the processor 404 to cause the surface attachment ofthe first attached end portion to detach from the surface. Here, therepositioning module 540 can cause the end portion actuator of the firstattached end portion to relax, thus reducing the hydraulic pressure onthe fluid-impermeable membrane of the said end portion. This relaxationcan cause the surface attachment to retract from the surface at thefirst contact point and allow the soft bodied structure to uncurl fromthe folded position at the first attached end portion. The detachment ofthe surface attachment from the surface can be substantially similar tothe relaxation of the first end portion 310, described with reference toFIG. 3D.

The repositioning module 540 can further include instructions to releasethe one or more medial hydraulic actuators and/or the controllablyresistive material. The repositioning module 540 can withdraw theelectrical input at the medial hydraulic actuators and/or thecontrollably resistive material, such that the soft bodied structurerelaxes into a new position on the surface. The medial hydraulicactuators and/or the controllably resistive material can be relaxed inany order, such that the soft bodied structure rests against thesurface. Here, the soft bodied structure has reversed orientation, suchthat the second attached end portion is facing the direction of motionfor the soft bodied structure.

The repositioning module 540 can further include instructions to detachthe surface attachment of the second attached end portion. The secondattached end portion can be detached by relaxing the end portionactuators. Here, the repositioning module 540 can cause the end portionactuator of the second attached end portion to relax. This relaxationcan reduce the hydraulic pressure on the fluid-impermeable membrane ofthe second attached end portion, causing the surface attachment torelease the surface at the second contact point. The soft bodiedstructure can then return to a state with the end portions relaxed fromthe surface. The detachment of the surface attachment from the surfacecan be substantially similar to the relaxation of the first end portion310, described with reference to FIG. 3D.

The modules can be implemented as computer-readable program code that,when executed by a processor, implement one or more of the variousprocesses described herein. One or more of the modules can be acomponent of the processor(s) 504, or one or more of the modules can beexecuted on and/or distributed among other processing systems to whichthe processor(s) 1504 are operatively connected. The modules can includeinstructions (e.g., program logic) executable by one or moreprocessor(s) 504. Alternatively or in addition, one or more data storesor memory may contain such instructions.

In one or more arrangements, one or more of the modules described hereincan include artificial or computational intelligence elements, e.g.,neural network, fuzzy logic or other machine learning algorithms.Further, in one or more arrangements, one or more of the modules can bedistributed among a plurality of the modules described herein. In one ormore arrangements, two or more of the modules described herein can becombined into a single module.

Thus, the device control system 470 can regulate the movement of thesoft bodied mobile device. The soft bodied mobile device can change froma first position to a second position on the surface, by using hydraulicforce from the actuators in the end portions and the medial portion. Thedevice control system 470 and the soft bodied mobile device can providenumerous benefits. The device control system 470 and the soft bodiedmobile device can allow for autonomous and independent movement across avariety of terrains. Further, the device control system 470 and the softbodied mobile device can perform a variety of autonomous functions, suchas to fulfill outdoor or military needs. The device control system 470can convert individual movements into controllable sequences for thesoft bodied structure, allowing the soft bodied structure to beintelligently controlled.

In the description above, certain specific details are outlined in orderto provide a thorough understanding of various implementations. However,one skilled in the art will understand that the invention may bepracticed without these details. In other instances, well-knownstructures have not been shown or described in detail to avoidunnecessarily obscuring descriptions of the implementations. Unless thecontext requires otherwise, throughout the specification and claimswhich follow, the word “comprise” and variations thereof, such as,“comprises” and “comprising” are to be construed in an open, inclusivesense, that is, as “including, but not limited to.” Further, headingsprovided herein are for convenience only and do not interpret the scopeor meaning of the claimed invention.

Reference throughout this specification to “one implementation” or “animplementation” means that a particular feature, structure orcharacteristic described in connection with the implementation isincluded in at least one implementation. Thus, the appearances of thephrases “in one implementation” or “in an implementation” in variousplaces throughout this specification are not necessarily all referringto the same implementation. Furthermore, the particular features,structures, or characteristics may be combined in any suitable manner inone or more implementations. Also, as used in this specification and theappended claims, the singular forms “a,” “an,” and “the” include pluralreferents unless the content clearly dictates otherwise. It should alsobe noted that the term “or” is generally employed in its sense including“and/or” unless the content clearly dictates otherwise.

Detailed implementations are disclosed herein. However, it is to beunderstood that the disclosed implementations are intended only asexamples. Therefore, specific structural and functional detailsdisclosed herein are not to be interpreted as limiting, but merely as abasis for the claims and as a representative basis for teaching oneskilled in the art to variously employ the aspects herein in virtuallyany appropriately detailed structure. Further, the terms and phrasesused herein are not intended to be limiting but rather to provide anunderstandable description of possible implementations. Variousimplementations are shown in FIGS. 1-5, but the implementations are notlimited to the illustrated structure or application.

The flowcharts and block diagrams in the figures illustrate thearchitecture, functionality, and operation of possible implementationsof systems, methods, devices, and computer program products according tovarious implementations. In this regard, each block in the flowcharts orblock diagrams can represent a module, segment, or portion of code,which can include one or more executable instructions for implementingthe specified logical function(s). It should also be noted that, in somealternative implementations, the functions noted in the block can occurout of the order noted in the figures. For example, two blocks shown insuccession can be executed substantially concurrently, or the blocks cansometimes be executed in the reverse order, depending upon thefunctionality involved.

The systems, components and/or methods described above can be realizedin hardware or a combination of hardware and software and can berealized in a centralized fashion in one processing system or in adistributed fashion where different elements are spread across severalinterconnected processing systems. Any kind of processing system orother apparatus adapted for carrying out the methods described herein issuited. A typical combination of hardware and software can be aprocessing system with computer-usable program code that, when beingloaded and executed, controls the processing system such that it carriesout the methods described herein. The systems, components and/or methodsalso can be embedded in a computer-readable storage, such as a computerprogram product or other data programs storage device, readable by amachine, tangibly embodying a program of instructions executable by themachine to perform methods and methods described herein. These elementsalso can be embedded in an application product which can include all thefeatures enabling the implementation of the methods described hereinand, which when loaded in a processing system, is able to carry outthese methods.

The headings (such as “Background” and “Summary”) and sub-headings usedherein are intended only for general organization of topics within thepresent disclosure and are not intended to limit the disclosure of thetechnology or any aspect thereof. The recitation of multipleimplementations having stated features is not intended to exclude otherimplementations having additional features, or other implementationsincorporating different combinations of the stated features. As usedherein, the terms “comprise” and “include” and their variants areintended to be non-limiting, such that recitation of items in successionor a list is not to the exclusion of other like items that may also beuseful in the devices and methods of this technology. Similarly, theterms “can” and “may” and their variants are intended to benon-limiting, such that recitation that an implementation can or maycomprise certain elements or features does not exclude otherimplementations of the present technology that do not contain thoseelements or features.

The broad teachings of the present disclosure can be implemented in avariety of forms. Therefore, while this disclosure includes particularexamples, the true scope of the disclosure should not be so limitedsince other modifications will become apparent to the skilledpractitioner upon a study of the specification and the following claims.Reference herein to one aspect, or various aspects means that aparticular feature, structure, or characteristic described in connectionwith an implementation or particular system is included in at least oneimplementation or aspect. The appearances of the phrase “in one aspect”(or variations thereof) are not necessarily referring to the same aspector implementation. It should also be understood that the various methodsteps discussed herein do not have to be carried out in the same orderas depicted, and not each method step is required in each aspect orimplementation.

The terms “a” and “an,” as used herein, are defined as one as or morethan one. The term “plurality,” as used herein, is defined as two ormore than two. The term “another,” as used herein, is defined as atleast a second or more. The terms “including” and/or “having,” as usedherein, are defined as including (i.e., open language). The phrase “atleast one of . . . and . . . ” as used herein refers to and encompassesany and all possible combinations of one or more of the associatedlisted items. As an example, the phrase “at least one of A, B and C”includes A only, B only, C only, or any combination thereof (e.g., AB,AC, BC or ABC).

The preceding description of the implementations has been provided forpurposes of illustration and description. It is not intended to beexhaustive or to limit the disclosure. Individual elements or featuresof a particular implementation are generally not limited to thatparticular implementation, but, where applicable, are interchangeableand can be used in a selected implementation, even if not specificallyshown or described. The same may also be varied in many ways. Suchvariations should not be regarded as a departure from the disclosure,and all such modifications are intended to be included within the scopeof the disclosure. While the preceding is directed to implementations ofthe disclosed devices, systems, and methods, other and furtherimplementations of the disclosed devices, systems, and methods can bedevised without departing from the basic scope thereof. The scopethereof is determined by the claims that follow.

What is claimed is:
 1. A soft bodied structure comprising: a first endportion comprising: a first actuator; and a first surface attachmentconfigured to attach to a surface upon actuation of the first actuator;a second end portion comprising: a second actuator; and a second surfaceattachment configured to attach to a surface upon actuation of thesecond actuator; a medial portion positioned between and connected tothe first end portion and the second end portion, the medial portioncomprising; one or more medial actuators; a controllably resistivematerial connected to the one or more medial actuators, the controllablyresistive material providing a mechanical resistance upon receiving aninput; and a control device configured to control the first actuator,the second actuator, and the one or more medial actuators using one ormore electrical inputs, and to create a somersault-like motion in thesoft bodied structure relative to the surface.
 2. The soft bodiedstructure of claim 1, wherein the first actuator, the second actuator,and the one or more medial actuators are fluidly connected through ashared fluid-impermeable compartment.
 3. The soft bodied structure ofclaim 1, wherein each of the first actuator, the second actuator, andthe one or more medial actuators comprise: a first insulating portionforming a fluid-impermeable compartment, the first insulating portioncomprising an insulating elastomer; a dielectric fluid contained withinthe fluid-impermeable compartment; a first conducting portion connectedto an outer surface of the first insulating portion, the firstinsulating portion comprising a conductive material; and a secondconducting portion connected to an outer surface of the first insulatingportion and separated from the first conducting portion by thefluid-impermeable compartment, the second conducting portion comprisinga conductive material; and a second insulating portion surrounding anexterior surface of the first conducting portion and the secondconducting portion.
 4. The soft bodied structure of claim 3, wherein thefirst insulating portion contains one or more polymers, the polymersbeing configured to control direction of elasticity.
 5. The soft bodiedstructure of claim 3, wherein the fluid-impermeable compartment of thefirst actuator, the second actuator, and the one or more medialactuators is a shared fluid-impermeable compartment.
 6. The soft bodiedstructure of claim 1, wherein the first surface attachment and thesecond surface attachment are hooks.
 7. The soft bodied structure ofclaim 1, wherein the controllably resistive material is a solidelectroactive polymer.
 8. The soft bodied structure of claim 1, whereinthe controllably resistive material includes a plurality ofindependently controllable subsections.
 9. A soft bodied structurecomprising: a first end portion configured to hydraulically actuate inresponse to a first input and to controllably attach to a first contactpoint of a surface in response to an actuation of the first end portion;a second end portion configured to hydraulically actuate in response toa second input and to controllably attach to a second contact point ofthe surface in response to the actuation of the second end portion,wherein the first end portion and the second end portion attach to thesurface in an alternating fashion; a medial portion positioned betweenand connected to the first end portion and the second end portion, themedial portion configured to expand substantially in one directioncreating an arch; and an electrical device connected with the first endportion, the second end portion, and the medial portion, the electricaldevice configured to control the actuation of the first end portion, thesecond end portion, and the medial portion using one or more electricalinputs.
 10. The soft bodied structure of claim 9, wherein the first endportion comprises a first actuator, wherein the second end portioncomprises a second actuator, and wherein the medial portion comprises amedial actuator.
 11. The soft bodied structure of claim 10, wherein eachof the first actuator, the second actuator, and the medial actuatorcomprise: a first insulating portion forming a fluid-impermeablecompartment, the first insulating portion comprising an insulatingelastomer; a dielectric fluid contained within the fluid-impermeablecompartment; a first conducting portion connected to an outer surface ofthe first insulating portion, the first insulating portion comprising aconductive material; and a second conducting portion connected to anouter surface of the first insulating portion and separated from thefirst conducting portion by the fluid-impermeable compartment, thesecond conducting portion comprising a conductive material; and a secondinsulating portion surrounding an exterior surface of the firstconducting portion and the second conducting portion.
 12. The softbodied structure of claim 11, wherein the first insulating portioncontains one or more polymers, the polymers being configured to controldirection of elasticity.
 13. The soft bodied structure of claim 11,wherein the fluid-impermeable compartment of the first actuator, thesecond actuator, and the medial actuator is a shared fluid-impermeablecompartment.
 14. The soft bodied structure of claim 9, wherein the firstend portion comprises one or more first surface attachments and thesecond end portion comprises one or more second surface attachments. 15.The soft bodied structure of claim 9, wherein the medial portioncomprises one or more controllably resistive material layers.
 16. Thesoft bodied structure of claim 15, wherein the one or more controllablyresistive material layers surround an exterior surface of the medialportion.
 17. A soft bodied structure comprising: two end portions, eachof the end portions comprising: an end portion actuator; and a surfaceattachment configured to attach to a surface upon actuation of the endportion actuator; a medial portion positioned between and connected tothe end portions, the medial portion having an exterior medial surface,the medial portion comprising; one or more medial actuators; and acontrollably resistive material connected to the one or more medialactuators, the controllably resistive material providing a mechanicalresistance upon receiving an input; and a device control system forcontrolling the soft bodied structure to perform a somersaulting motion,comprising: one or more processors; and a memory communicably coupled tothe one or more processors and storing instructions to: cause the softbodied structure to attach to a first contact point on the surface usingthe surface attachment and the end portion actuator of one of the endportions, creating a first attached end portion and an unattached endportion; actuate the one or more medial actuators to cause the medialportion to move such that the unattached end portion somersaults overthe first attached end portion; cause the soft bodied structure toattach to a second contact point on the surface using the surfaceattachment and the end portion actuator of the unattached end portion,creating a second attached end portion; cause the surface attachment ofthe first attached end portion to detach from the surface; anddeactivate the one or more medial actuators and the controllablyresistive material.
 18. The soft bodied structure of claim 17, whereinthe surface attachment of each of the end portions is a hook.
 19. Thesoft bodied structure of claim 17, wherein the controllably resistivematerial is a solid electroactive polymer.
 20. The soft bodied structureof claim 17, wherein the one or more medial actuators are sequentiallyactuated.